Method for optimizing shaping in micro-catheter shaping device, electronic equipment and storage medium

Abstract

The invention discloses a method for optimizing shaping in a micro-catheter shaping device, electronic equipment and a storage medium. The method comprises the following steps: determining a corresponding spatial transformation matrix according to a target shaping form; shaping points are output step by step, the shaping position of a shaping finger at each shaping point is calculated according to the spatial transformation matrix, and bending shaping is carried out at the shaping positions aligned with the shaping points; a cylindrical grid is constructed based on the preset rotation angle range of the shaping fingers and the preset shaping range of the shaping needles; cutting crossed positions after shaped line segments formed by connecting the bent and shaped shaping points are projected to the cylindrical grid to obtain a target shaping path; and calculating an optimal shaping path from a shaping position to a target position in the target shaping path to align the target shaping form so as to realize optimized shaping in the micro-catheter shaping device. By means of the scheme, the path can be optimized in real time, shaping interference is avoided, and the shaping precision of the microcatheter is remarkably improved.

Description

Technical Field

[0001] The present application generally relates to the field of microcatheter shaping technology, and more specifically, to a method, electronic device, and computer-readable storage medium for optimizing shaping in a microcatheter shaping device. Background Art

[0002] In neurointerventional surgery, the microcatheter needs to be shaped into a specific shape to fit the patient's vascular path. For example, an existing microcatheter shaping device uses a software algorithm to generate a shaping plan, and uses a shaping needle wire to print out the shaping path. The doctor inserts the microcatheter into the wire and then fumigates it to shape it into a specific shape. However, when the device is printing the wire, the shaping finger (a mechanical component used to bend the wire) may interfere with the bent wire in space, resulting in shaping errors. Specifically, during the continuous bending process of the shaping finger, its rotation angle is not dynamically coordinated with the wire output direction, resulting in local path overlap.

[0003] Currently, there are shaping methods based on geometric models, but the existing algorithms do not fully consider the physical limitations of the shaping needle (such as rotational freedom and wire output range), resulting in the inability to generate a global optimal path. When there is no feasible path, the system lacks a feedback mechanism and requires manual intervention, which is inefficient.

[0004] In view of this, there is an urgent need to provide a solution for optimizing shaping in a microcatheter shaping device so as to optimize the path in real time, avoid shaping interference, and significantly improve the accuracy of microcatheter shaping. Summary of the invention

[0005] In order to at least solve one or more of the technical problems mentioned above, the present application proposes solutions for optimizing shaping in a microcatheter shaping device in multiple aspects.

[0006] In a first aspect, the present application provides a method for optimizing shaping in a microcatheter shaping device, wherein the microcatheter shaping device comprises at least a shaping needle and a shaping finger for bending the shaping needle, and the method comprises: determining a corresponding spatial transformation matrix according to a target shaping form; gradually outputting shaping points, calculating a shaping position of a shaping finger at each shaping point according to the spatial transformation matrix, so as to align the shaping point at the shaping position for bending and shaping; constructing a cylindrical mesh based on a preset rotation angle range of the shaping finger and a preset shaping range of the shaping needle; clipping the intersection position of the shaped line segments formed by connecting the bent and shaped shaping points after being projected to the cylindrical mesh to obtain a target shaping path; and calculating an optimal shaping path from the shaping position to the target position on the target shaping path to align the target shaping form to achieve optimized shaping in the microcatheter shaping device.

[0007] In some embodiments, the shaping points are output step by step by performing the following operations: calculating the shaping positions of the shaping fingers at each shaping point according to the spatial transformation matrix: in response to outputting the first shaping point, outputting the first shaping point as the initial reference point, and determining the shaping position of the shaping finger according to the spatial transformation matrix; in response to outputting a non-first shaping point, calculating the shaping position of the shaping finger at the current shaping point according to the spatial transformation matrix of the previous shaping point, and calculating the shaping position of the shaping finger at the next shaping point based on the spatial transformation matrix of the current shaping point.

[0008] In some other embodiments, the intersection positions after projecting the shaped line segments formed by the shaped and bent shaping points onto the cylindrical grid are determined by performing the following operations: mapping the cylindrical grid to a rectangular grid; projecting the shaped line segments formed by the shaped and bent shaping points onto the rectangular grid; and determining the intersection positions formed by the shaped line segments formed by the shaped and bent shaping points and the nodes or edges on the rectangular grid as the intersection positions.

[0009] In still some other embodiments, the target shaping path is obtained by clipping the intersection positions after projecting the shaped line segments formed by the shaped and bent shaping points onto the cylindrical grid: performing a deletion process on the intersection positions after projecting the shaped line segments formed by the shaped and bent shaping points onto the cylindrical grid to achieve clipping; and corresponding the clipped shaping line segments back to the cylindrical grid to obtain the target shaping path.

[0010] In still some other embodiments, before calculating the optimal shaping path from the shaping position to the target position on the target shaping path to align the target shaping form, it further includes: optimizing the target shaping path based on target weights.

[0011] In still some other embodiments, optimizing the target shaping path based on target weights includes: setting a distance weight and a direction weight; and optimizing the target shaping path based on the distance weight and the direction weight.

[0012] In still some other embodiments, the distance weight and the direction weight are set by performing the following operations: taking the distance between two adjacent points on the target shaping path as the edge weight value to set the distance weight; and respectively setting a first weight and a second weight corresponding to the circumferential direction and the shaping direction of the shaping needle to set the direction weight.

[0013] In still some other embodiments, the first weight is an alpha weight and the second weight is a beta weight.

[0014] In a second aspect, the present application provides an electronic device, including: a processor; and a memory storing computer instructions for optimizing shaping in a microcatheter shaping device, which, when executed by the processor, implement multiple embodiments in the aforementioned first aspect.

[0015] In a third aspect, the present application provides a computer-readable storage medium storing computer program instructions for optimizing shaping in a microcatheter shaping device, which, when executed by one or more processors, implement multiple embodiments in the aforementioned first aspect.

[0016] Through the solution for optimizing shaping in a microcatheter shaping device provided as above, embodiments of the present application accurately obtain the position and attitude changes of shaping points in three-dimensional space by calculating the spatial transformation matrix of shaping points, providing a basis for subsequent precise control of the movement of shaping fingers. By constructing a cylinder grid, fully considering the rotation angle of shaping fingers and the shaping range of shaping needles, a virtual space framework that conforms to the actual situation is provided for path planning, and precise processing such as clipping is performed on the intersection positions projected onto the cylinder grid, effectively avoiding interference between shaping fingers and bent wires, thereby greatly improving the shaping accuracy of the microcatheter. Further, by calculating the optimal path, the most suitable shaping path can be quickly found among numerous possible paths. Compared with traditional shaping methods, the ineffective movements during the shaping process are greatly reduced, the shaping time is shortened, and the shaping efficiency is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] By referring to the accompanying drawings and reading the detailed description below, the above and other objectives, features, and advantages of the exemplary embodiments of the present application will become easily understandable. In the drawings, several embodiments of the present application are shown in an exemplary rather than restrictive manner, and the same or corresponding reference numerals represent the same or corresponding parts, where:

[0018] Figure 1 is an exemplary schematic diagram showing a microcatheter shaping device;

[0019] Figure 2 is an exemplary flowchart showing a method for optimizing shaping in a microcatheter shaping device according to an embodiment of the present application;

[0020] Figure 3 is an exemplary schematic diagram showing a target shaping form according to an embodiment of the present application;

[0021] Figure 4 is an exemplary schematic diagram showing the step-by-step output of shaping points for shaping according to an embodiment of the present application;

[0022] Figure 5 is an exemplary schematic diagram showing a cylinder grid and a shaping path according to an embodiment of the present application;

[0023] Figure 6 is an exemplary structural block diagram showing an electronic device according to an embodiment of the present application. Detailed implementation manners

[0024] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part rather than all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the protection scope of the present application.

[0025] It should be understood that the terms "including" and "comprising" used in the specification and claims of the present application indicate the presence of the described features, wholes, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or their combinations.

[0026] It should also be understood that the terms used in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in the specification and claims of the present application, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include the plural forms. It should be further understood that the term "and / or" used in the specification and claims of the present application refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0027] As used in the specification and claims of the present application, the term "if" can be interpreted as "when", "once", "in response to determining" or "in response to detecting" according to the context. Similarly, the phrase "if determined" or "if [the described condition or event] is detected" can be interpreted as meaning "once determined", "in response to determining", "once [the described condition or event] is detected" or "in response to detecting [the described condition or event]" according to the context.

[0028] Figure 1 is an exemplary schematic diagram showing the microcatheter shaping device 100. As Figure 1As shown in the figure, the microcatheter shaping device 100 may include a shaping needle 101, a shaping finger 102 for bending the shaping needle 101, and a shaping nozzle 103 for pushing the shaping needle 101. In an actual application scenario, the doctor first plans the target shaping form based on factors such as the location and shape of the patient's vascular lesion and the target position that the microcatheter needs to reach. Then, based on this path, the shaping needle 101 is pushed by controlling the shaping nozzle 103. During the pushing process, the shaping needle 101 is bent by the shaping finger 102 according to the target angle range, so as to realize the shaping of the microcatheter.

[0029] According to the description of the background technology, in the actual shaping process, spatial interference may occur between the shaping finger and the bent shaping needle wire, resulting in shaping errors. However, the current methods do not fully consider the physical limitations such as the rotational freedom and wire feeding range of the shaping needle, resulting in the inability to generate a globally optimal path.

[0030] Based on this, the present application provides a method for optimizing shaping in a microcatheter shaping device. By modeling with a spatial transformation matrix, cylindrical grid mapping, and a weighted optimization algorithm, the interference problem between the shaping finger and the shaping needle is solved, and the shaping accuracy and efficiency are improved.

[0031] The following will describe in detail the specific embodiments of the present application with reference to the accompanying drawings.

[0032] Figure 2 is an exemplary flowchart showing a method 200 for optimizing shaping in a microcatheter shaping device according to an embodiment of the present application. As Figure 2 shown in the figure, the method 200 includes: Step S201: Determine the corresponding spatial transformation matrix according to the target shaping form; Step S202: Gradually output shaping points, and calculate the shaping positions of the shaping fingers at each shaping point according to the spatial transformation matrix, so as to bend and shape at the shaping positions by aligning with the shaping points; Step S203: Construct a cylindrical grid based on the preset rotation angle range of the shaping finger and the preset shaping range of the shaping needle; Step S204: Cut the intersection positions after projecting the shaped line segments formed by connecting the shaped shaping points onto the cylindrical grid to obtain the target shaping path and Step S205: Calculate the optimal shaping path from the shaping position to the target position on the target shaping path to align with the target shaping form, so as to realize the optimization of shaping in the microcatheter shaping device.

[0033] First, at step S201, the corresponding spatial transformation matrix is determined according to the target shaping form. In some embodiments, the target shaping form (for example Figure 3As shown in the figure, it can be generated based on the three-dimensional model of the patient's blood vessels through, for example, medical image processing software. The target shaping form consists of a series of discrete points (i.e., shaping points), and each point corresponds to the target bending position of the shaping needle wire. According to the bending positions of the respective shaping points on the target shaping form, the spatial transformation matrix of each discrete point can be calculated through, for example, matrix operations. As an example, the spatial transformation matrix can be obtained by the product of a translation matrix and a rotation matrix, and the translation matrix and the rotation matrix are the mathematical representations corresponding to each discrete point moving from the initial position to the new position with a corresponding rotation angle.

[0034] Next, at step S202, the shaping points are output step by step, and the shaping positions of the shaping fingers at each shaping point are calculated according to the spatial transformation matrix, so as to perform bending shaping by aligning the shaping fingers at the shaping positions. In some implementation scenarios, the shaping points can be output step by step by pushing the shaping needle through the shaping nozzle. As an example, it is pushed once every 1 mm. In some embodiments, in response to the output of the first shaping point, the first shaping point is output as the initial reference point, and the shaping position of the shaping finger is determined according to the spatial transformation matrix. In response to the output of a non-first shaping point, the shaping position of the shaping finger at the current shaping point is calculated according to the spatial transformation matrix of the previous shaping point, and the shaping position of the shaping finger at the next shaping point is calculated based on the spatial transformation matrix of the current shaping point.

[0035] Specifically, taking the output of the first shaping point as an example, it is output as the initial reference point. Assuming that the spatial transformation matrix is denoted as T, according to the rotation and translation information in the matrix, combined with the mechanical structure parameters of the microcatheter shaping device (such as the relative relationship between the initial position of the shaping finger and the shaping needle, etc.), the initial angular position of the shaping finger rotation is determined through trigonometric functions. As an example, if the current angle of the shaping finger is α, the general initial position is O(0, -H, 0), where H is a mechanical parameter. Assuming that the first point to the third point of the shaping wire is p0, p1, p2, first calculate the spatial transformation matrix for translating p0 to (0, 0, 0) and for placing p0p1 on the Z-axis, and perform spatial transformation on all points. Then, perform an operation of feeding out the wire by 1 mm for p0. At this time, p0 is (0, 0, 1), while p1 is (0, 0, 0). Currently, the shaping point is p1, and the p1 point remains stationary. Calculate the spatial transformation matrix for rotating p1p2 to (0, 0, -1), and all points are spatially transformed based on this transformation matrix to obtain the angle θ of the p0p1 vector in the xy plane, determine the bending position of the P1 point, and further obtain that the target position of the shaping finger is on the opposite side of θ, that is, the angle is (180 + θ), and the current angle α rotates to (180 + θ) as the angle path range.

[0036] For non-first shaping points, assume that the current output has reached the nth shaping point Pn, where Pn is located at (0, 0, 0), the current angle is α, and the shaping finger angle position corresponding to the XY plane of the previous shaping point (the (n - 1)th shaping point) is known as αn-1. According to the (n + 1)th shaping point Pn+1 and the nth point Pn, the rotation matrix for rotating PnPn+1 to (0, 0, -1) is used, and all points are spatially transformed based on this transformation matrix to obtain the angle αn of the PnPn-1 vector in the XY plane. Furthermore, the angle of the shaping finger can be calculated as (180 + αn). Subsequently, in determining the optimal path, except for the first shaping point, the virtual Z-axis translation range is the wire-extrusion range of the shaping wire, which can generally be set to 10 mm. That is, from the previous shaping point to the next shaping point, an expansion is performed in the Z-axis range to find the optimal path to avoid collisions. By analogy, the corresponding shaping finger angle positions at each shaping point can be obtained. Based on each angle position, the shaping finger is rotated to the corresponding position and aligned with the shaping point for bending and shaping.

[0037] Further, at step S203, a cylindrical grid is constructed based on the preset rotation angle range of the shaping finger and the preset shaping range (i.e., the wire-extrusion range) of the shaping needle. It can be understood that the shaping finger rotates while the shaping nozzle position is fixed to push or retract the shaping needle. Thus, after the two-dimensional movements of the shaping finger and the shaping needle are discretized, they can be regarded as the grid points of the cylindrical grid, as well as the shaping points and edges on the shaping path. Thereby, a cylindrical grid is constructed (as shown in, for example, Figure 5 ).

[0038] In some implementation scenarios, the above preset rotation angle range can be 0° - 360°, and the preset shaping range can be, for example, 0 - 10 mm. Additionally, considering the rotation direction of the shaping finger, if it rotates bidirectionally, a bidirectional directed graph or an undirected graph is used to represent the connection relationship between grid nodes; if it rotates unidirectionally, a unidirectional directed graph is used to construct a cylindrical grid that conforms to the actual shaping situation.

[0039] Based on the constructed cylindrical grid, at step S204, the intersection positions after projecting the shaped line segments formed by the shaped shaping points onto the cylindrical grid are trimmed to obtain the target shaping path. In some embodiments, first, the cylindrical grid is mapped to a rectangular grid, and the intersection positions formed by projecting the shaped line segments formed by the shaped shaping points onto the rectangular grid and the nodes or edges on the rectangular grid are determined as the intersection positions.

[0040] In some implementation scenarios, the cylindrical grid can be mapped to a rectangular grid through, for example, the conversion formula from cylindrical coordinates to Cartesian coordinates. Then, according to the direction vector and position information of the shaped line segment formed by connecting shaping points in three-dimensional space, it is projected onto the plane where the rectangular grid is located through a projection transformation. Then, based on the geometric principle of projection, the starting and ending coordinates of the projected line segment on the rectangular grid are calculated, thus completing the projection of the shaped line segment on the rectangular grid. Further, the intersection positions are determined by calculating the intersection positions formed by the projected line segment and the nodes or edges on the rectangular grid.

[0041] In some embodiments, the intersection positions after projecting the shaped line segment formed by connecting the bent and shaped shaping points onto the cylindrical grid can be deleted to achieve trimming. Then, the trimmed shaped line segment is mapped back to the cylindrical grid to obtain the target shaping path.

[0042] In some implementation scenarios, after determining the intersection positions, it is judged according to preset rules which intersection positions may cause shaping interference. For example, if at a certain intersection position, when the shaping finger moves from the current position to the position corresponding to the next shaping point, its movement trajectory is too close to the shaped line segment, exceeding the safety distance threshold (this threshold is set according to the accuracy of the shaping device and actual operation experience), then it is considered that this intersection position may cause interference and needs to be deleted. The grid edge corresponding to this intersection position is deleted so that the shaping finger does not pass through this interference area.

[0043] After completing the trimming operation, the processed shaped line segment is mapped back to the cylindrical grid. Specifically, the inverse transformation formula previously used to map from the cylindrical grid to the rectangular grid, that is, the inverse conversion formula from cylindrical coordinates to Cartesian coordinates, can be utilized. For each point (x, y, z) of the trimmed and reorganized shaped line segment on the rectangular grid, through the inverse transformation formula, it is converted back to the coordinates (r, θ, z) on the cylindrical grid, thus obtaining the target shaping path after mapping back to the cylindrical grid. This target shaping path has undergone trimming processing, avoiding possible shaping interference situations and providing an accurate basis for subsequent calculation of the optimal path.

[0044] Further, at step S205, the optimal shaping path from the shaping position to the target position is calculated on the target shaping path to align with the target shaping form, so as to achieve optimized shaping in the microcatheter shaping device. In some embodiments, before calculating the optimal shaping path from the shaping position to the target position on the target shaping path to align with the target shaping form, the target shaping path can also be optimized based on the target weighting. Wherein, the aforementioned target position is the position of the next shaping point. In some embodiments, the target shaping path can be optimized by setting distance weighting and direction weighting and based on the distance weighting and direction weighting. In other embodiments, the distance between two adjacent points on the target shaping path is used as the edge weight value to set the distance weighting; the first weighting and the second weighting are respectively set for the circumferential direction and the shaping direction of the shaping needle to set the direction weighting. Wherein, the aforementioned first weighting can be alpha weighting, and the second weighting can be beta weighting. Specifically, the alpha weighting is the weighting weight in the circumferential angle direction, and the beta weighting is the weighting weight in the wire feeding direction. The sum of the two is 1. Generally, the circumferential direction is set to be larger, such as greater than 0.5, and the circumferential movement is given priority.

[0045] In some implementation scenarios, the optimal path from the shaping finger to the target angular position can be calculated according to the target shaping path optimized by weighting through, for example, the Dijkstra algorithm, so as to obtain the optimal shaping path. Specifically, first, a distance matrix is initialized, and the distance of the starting node (the node corresponding to the current position of the shaping finger) is set to 0, and the distances of all other nodes are set to infinity. Then, starting from the starting node, all its adjacent nodes are traversed. For each adjacent node, calculate the distance from the starting node to this adjacent node through the current edge. This distance is equal to the distance from the starting node to the current node plus the weighted distance of the current edge (the edge weight value multiplied by the corresponding weighting coefficient, such as the alpha weighting in the circumferential direction and the beta weighting in the wire feeding direction). That is to say, when calculating the optimal distance, multiply by the alpha value in the circumferential direction; multiply by the beta value in the wire feeding direction. If the calculated distance is less than the current distance of this adjacent node in the distance matrix, then update the distance value of this adjacent node and record its predecessor node as the starting node. Then, select the node with the smallest distance and not processed in the distance matrix as the new current node, and repeat the above process until all nodes are traversed. Finally, starting from the node corresponding to the target angular position, by backtracking the predecessor nodes, the optimal path from the starting node to the target node is obtained, and this path is the optimal shaping path considering the distance weighting and direction weighting. After performing the foregoing operations on all shaping points, the target shaping form can be obtained, and optimized shaping in the microcatheter shaping device can be achieved.

[0046] As described above, in the embodiments of the present application, through the above-provided solution for optimizing shaping in the microcatheter shaping device, by calculating the spatial transformation matrix of the shaping points, the position and attitude changes of the shaping points in the three-dimensional space are accurately obtained, providing a basis for accurately controlling the movement of the shaping fingers in the subsequent process. For example, when calculating the rotation parameters of the shaping fingers, for each shaping point, the corresponding position of the shaping finger is accurately calculated based on the spatial transformation matrix, enabling the shaping finger to accurately bend the shaping needle wire and avoiding shaping errors caused by position and angle deviations. When constructing the cylindrical grid, the rotation angle of the shaping finger and the shaping range of the shaping needle are fully considered, providing a virtual space framework that conforms to the actual situation for path planning. During the process of trimming the path, the intersection positions projected onto the cylindrical grid are accurately processed, effectively avoiding interference between the shaping finger and the bent wire, thereby greatly improving the shaping accuracy of the microcatheter. This means that the microcatheter can reach the blood vessel lesion site more accurately. For example, when treating a cerebral aneurysm, the microcatheter can be more accurately positioned at the aneurysm neck, improving the success rate of embolization treatment, reducing damage to the surrounding normal blood vessel tissue, reducing the surgical risk, and ensuring the treatment effect and safety of the patient.

[0047] Furthermore, in the embodiments of the present application, the target shaping path is optimized based on distance weighting and direction weighting, and the optimal path is calculated through an algorithm. In this process, the distance between two adjacent points on the target shaping path is used as the edge weight value, combined with the alpha weighting in the circumferential direction and the beta weighting in the shaping direction of the shaping needle, making the path planning more reasonable. For example, according to different blood vessel morphologies and treatment requirements, the values of alpha and beta can be flexibly adjusted. In areas with a large curvature of the blood vessel, the alpha value is appropriately increased to make the shaping path more inclined to move in the circumferential direction and better fit the blood vessel wall; in the stage with higher requirements for the stability of wire feeding, the beta value is increased to ensure a smooth wire feeding process. Through such weighted optimization and then using an algorithm such as Dijkstra's algorithm to calculate the optimal path, the most suitable shaping path can be quickly found among numerous possible paths. Compared with traditional shaping methods, it greatly reduces the ineffective movements during the shaping process, shortens the shaping time, and improves the shaping efficiency. This can not only improve the surgical efficiency, reduce the time of the patient on the operating table, but also reduce the medical cost and improve the utilization rate of medical resources.

[0048] Figure 3 is an exemplary schematic diagram showing the target shaping form according to the embodiments of the present application. As Figure 3 shown therein is the target shaping form. According to the foregoing, by based on the three-dimensional model of the patient's blood vessel, the target shaping form can be generated through, for example, medical image processing software. In the implementation scenario, the target shaping form consists of a series of discrete points (i.e., shaping points), and each point corresponds to the target bending position of the shaping needle wire.

[0049] Figure 4 It is an exemplary schematic diagram showing shaping by gradually outputting shaping points according to an embodiment of the present application. As Figure 4 shown in figure (a) of Figure 4 , the first shaped line segment is output, and the first segment is bent by the shaping finger, such as the ab segment shown in the figure. As

[0050] Figure 5 shown in figure (b) of Figure 5 , the shaping bending results of other shaped line segments output and bent by the shaping finger are shown, such as the ab segment, bc segment, cd segment, de segment, and ef segment shown in the figure. In the embodiment of the present application, by gradually outputting shaping points and calculating the corresponding shaping finger positions based on the spatial transformation matrix, the shaping finger can accurately bend the shaping needle wire, avoiding shaping errors caused by position and angle deviations.

[0051] When specifically applying it to a microcatheter shaping device, the microcatheter shaping device calculates the spatial transformation matrix of the shaped shaping points of the shaping needle through an algorithm. This matrix integrates the position and attitude change information of the shaping points in three-dimensional space, providing a data basis for accurately controlling the subsequent movement of the shaping finger and the shaping mouth. The shaping mouth pushes the shaping needle to gradually output shaping points. During this process, the rotation parameters of the shaping finger are calculated according to the spatial transformation matrix. Specifically, first, the positions of the shaping fingers corresponding to each shaping location are calculated, and then the rotation angle range of the shaping finger is determined based on these positions.

[0052] For the first shaping point, it is output as the initial reference point, and the initial position of the rotation of the shaping finger is calculated according to the spatial transformation matrix. The shaping finger rotates to this position to prepare for the first bending of the shaping needle.

[0053] When outputting non-first shaping points, the current position of the shaping finger is calculated according to the spatial transformation matrix, and on this basis, the position of the shaping finger corresponding to the next shaping point is calculated in combination with the spatial transformation matrix. By continuously updating the angle of the shaping finger, the shaping needle is accurately bent to gradually form a shape that conforms to the target shaping form.

[0054] Construct a cylindrical grid based on the rotation angle of the shaping finger and the shaping range of the shaping needle. The rotation angle range of the shaping finger determines the coverage range of the cylindrical grid in the circumferential direction, and the shaping range of the shaping needle determines the height. Considering the rotation direction of the shaping finger, if it is a two-way rotation, a directed graph or an undirected graph is used to represent the connection relationship between grid nodes; if it is a one-way rotation, a directed graph is used. This cylindrical grid provides a virtual space framework for shaping path planning, restricting and guiding the bending path of the shaping needle.

[0055] As the shaping needle bends, project the shaped line segment formed by connecting the shaping points onto the cylindrical grid. By mapping the cylindrical grid to a rectangular grid, project the shaped line segment onto the rectangular grid, and determine the intersection positions formed by the shaped line segment and the nodes or edges on the rectangular grid as the crossing positions. Cut these crossing positions, and then map the cut-shaped line segment back to the cylindrical grid to obtain the target shaping path.

[0056] Optimize the target shaping path based on distance weighting and direction weighting. Take the distance between two adjacent points on the target shaping path as the edge weight value, and set alpha weighting and beta weighting for the circumferential direction and the shaping direction of the shaping needle respectively. According to the target shaping path optimized by weighting, select a suitable algorithm (such as Dijkstra's algorithm) to calculate the optimal path from the shaping finger to the target angle position. Finally, the shaping nozzle pushes the shaping needle according to the calculated optimal path, and the shaping finger bends the shaping needle precisely according to the rotation angle range to achieve precise shaping of the microcatheter.

[0057] Figure 6 It is an exemplary structural block diagram showing the electronic device 600 according to an embodiment of the present application. It can be understood that the electronic device 600 may include the device of the embodiment of the present application, and the device implementing the solution of the present application may be a single device (such as a computing device) or a multifunctional device including various peripheral devices.

[0058] As Figure 6As shown in the figure, the electronic device of the present application may further include a central processing unit or central processing unit (“CPU”) 611, which may be a general-purpose CPU, a dedicated CPU, or other information processing and program execution units. Further, the electronic device 600 may also include a large-capacity memory 612 and a read-only memory (“ROM”) 613, where the large-capacity memory 612 may be configured to store various types of data, including various data related to the target shaping form, spatial transformation matrix, cylinder grid, optimal shaping path, algorithm data, intermediate results, and various programs required to run the electronic device 600. The ROM 613 may be configured to store data and instructions for power-on self-test of the electronic device 600, initialization of each functional module in the system, basic input / output driver programs of the system, and data and instructions required to boot the operating system.

[0059] Optionally, the electronic device 600 may further include other hardware platforms or components, such as the shown tensor processing unit (“TPU”) 614, graphics processing unit (“GPU”) 615, field programmable gate array (“FPGA”) 616, and machine learning unit (“MLU”) 617. It can be understood that although various hardware platforms or components are shown in the electronic device 600, they are merely exemplary rather than restrictive, and those skilled in the art can add or remove corresponding hardware according to actual needs. For example, the electronic device 600 may only include a CPU, related storage devices, and interface devices to implement the method for optimizing shaping in the microcatheter shaping device of the present application.

[0060] In some embodiments, for the convenience of data transfer and interaction with the external network, the electronic device 600 of the present application further includes a communication interface 618, so that it can be connected to a local area network / wireless local area network (“LAN / WLAN”) 605 through the communication interface 618, and then can be connected to a local server 606 or connected to the Internet (“Internet”) 607 through the LAN / WLAN. Alternatively or additionally, the electronic device 600 of the present application may also be directly connected to the Internet or a cellular network based on wireless communication technology through the communication interface 618, such as based on the 3rd generation (“3G”), 4th generation (“4G”), or 5th generation (“5G”) wireless communication technology. In some application scenarios, the electronic device 600 of the present application may also access the server 608 and database 609 of the external network as needed, so as to obtain various known algorithms, data, and modules, and may remotely store various data, such as various data or instructions for presenting the target shaping form, spatial transformation matrix, cylinder grid, optimal shaping path, etc.

[0061] The peripheral devices of the electronic device 600 may include a display device 602, an input device 603, and a data transmission interface 604. In one embodiment, the display device 602 may include, for example, one or more speakers and / or one or more visual displays configured to provide voice prompts and / or image / video displays for the optimized shaping in the microcatheter shaping device of the present application. The input device 603 may include, for example, a keyboard, a mouse, a microphone, a gesture capture camera, and other input buttons or controls configured to receive input of audio data and / or user instructions. The data transmission interface 604 may include, for example, a serial interface, a parallel interface, or a Universal Serial Bus interface ("USB"), a Small Computer System Interface ("SCSI"), Serial ATA, FireWire, PCI Express, and a High-Definition Multimedia Interface ("HDMI"), etc., configured for data transmission and interaction with other devices or systems. According to the solution of the present application, the data transmission interface 604 may receive the target shaping form generated by the medical image processing software and transmit to the electronic device 600 data or results including the target shaping form or various other types.

[0062] The above-mentioned CPU 611, mass storage 612, ROM 613, TPU 614, GPU 615, FPGA 616, MLU 617, and communication interface 618 of the electronic device 600 of the present application may be interconnected with each other through a bus 619 and achieve data interaction with the peripheral devices through this bus. In one embodiment, through this bus 619, the CPU 611 may control other hardware components and their peripheral devices in the electronic device 600.

[0063] The above combination Figure 6 has described the electronic device that can be used to execute the present application. It should be understood that the device structure or architecture here is only exemplary, and the implementation manner and implementation entity of the present application are not limited by it, but may be changed without departing from the spirit of the present application.

[0064] According to the above description with reference to the drawings, those skilled in the art can also understand that the embodiments of the present application can also be implemented by software programs. Therefore, the present application also provides a computer-readable storage medium on which computer-readable instructions for optimized shaping in the microcatheter shaping device are stored. When the computer-readable instructions are executed by one or more processors, they can be used to implement the method for optimized shaping in the microcatheter shaping device described in the present application in combination with the attached Figure 2 drawings.

[0065] It should be noted that although the operations of the method of the present application are described in a specific order in the accompanying drawings, this does not require or imply that these operations must be performed in that specific order, or that all the operations shown must be performed to achieve the desired result. On the contrary, the order of execution of the steps depicted in the flowchart can be changed. Additionally or alternatively, certain steps may be omitted, multiple steps may be combined into one step for execution, and / or one step may be decomposed into multiple steps for execution.

[0066] It should be understood that when terms such as "first", "second", "third", and "fourth" are used in the claims, the specification, and the accompanying drawings of the present application, they are only used to distinguish different objects and not to describe a specific order. The terms "comprising" and "including" used in the specification and claims of the present application indicate the presence of the described features, wholes, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or their combinations.

[0067] It should also be understood that the terms used in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in the specification and claims of the present application, unless the context clearly indicates otherwise, the singular forms "a", "an", and "the" are intended to include the plural forms. It should be further understood that the term "and / or" used in the specification and claims of the present application refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0068] Although the embodiments of the present application are as described above, the above content is only an example used for facilitating the understanding of the present application and is not intended to limit the scope and application scenarios of the present application. Any person skilled in the technical field related to the present application may make any modifications and changes in the form of implementation and details without departing from the spirit and scope disclosed by the present application. However, the scope of patent protection of the present application shall still be subject to the scope defined by the appended claims.

[0069] In addition, the collection and acquisition of various data in the present application comply with relevant laws and regulations and are authorized by the data providers. Any organization or individual that needs to obtain external data shall obtain authorization according to law and ensure data security, and shall not illegally collect, use, process, or transmit unauthorized or unprotected data, nor illegally buy, provide, or disclose unauthorized or unprotected data.

Claims

1. A method for optimizing shaping in a microcatheter shaping device, wherein the microcatheter shaping device at least includes a shaping needle and shaping fingers for bending the shaping needle, and the method includes: Determining a corresponding spatial transformation matrix according to the target shaping form; Gradually outputting shaping points, and calculating the shaping positions of the shaping fingers at each shaping point according to the spatial transformation matrix, so as to perform bending shaping by aligning the shaping fingers at the shaping positions with the shaping points; Constructing a cylindrical grid based on the preset rotation angle range of the shaping fingers and the preset shaping range of the shaping needle; Cutting the intersection positions after projecting the shaped line segments formed by the bent and shaped shaping points onto the cylindrical grid to obtain a target shaping path; And Calculating the optimal shaping path from the shaping position to the target position on the target shaping path to align the target shaping form, so as to achieve optimized shaping in the microcatheter shaping device.

2. The method according to claim 1, wherein the shaping points are gradually output through the following operations, and the shaping positions of the shaping fingers at each shaping point are calculated according to the spatial transformation matrix: In response to outputting the first shaping point, outputting the first shaping point as an initial reference point, and determining the shaping position of the shaping finger according to the spatial transformation matrix; In response to outputting a non-first shaping point, calculating the shaping position of the shaping finger at the current shaping point according to the spatial transformation matrix of the previous shaping point, and calculating the shaping position of the shaping finger at the next shaping point based on the spatial transformation matrix of the current shaping point.

3. The method according to claim 1, wherein the intersection positions after projecting the shaped line segments formed by the bent and shaped shaping points onto the cylindrical grid are determined through the following operations: Mapping the cylindrical grid to a rectangular grid; Projecting the shaped line segments formed by the bent and shaped shaping points onto the rectangular grid; and Determining the intersection positions formed by the shaped line segments formed by the bent and shaped shaping points and the nodes or edges on the rectangular grid as the intersection positions.

4. The method according to claim 3, wherein the intersection positions after projecting the shaped line segments formed by the bent and shaped shaping points onto the cylindrical grid are cut to obtain a target shaping path: Performing a deletion process on the intersection positions after projecting the shaped line segments formed by the bent and shaped shaping points onto the cylindrical grid to achieve cutting; and Corresponding the cut shaping line segments back to the cylindrical grid to obtain the target shaping path.

5. The method according to claim 1, wherein before calculating the optimal shaping path from the shaping position to the target position on the target shaping path to align the target shaping form, it further includes: Optimizing the target shaping path based on a target weight.

6. The method according to claim 5, wherein optimizing the target shaping path based on a target weight includes: Setting a distance weight and a direction weight; And Optimizing the target shaping path based on the distance weight and the direction weight.

7. The method according to claim 6, wherein the distance weight and the direction weight are set through the following operations: Use the distance between two adjacent points on the target shaping path as the edge weight value to set the distance weighting; and Respectively set the first weighting and the second weighting corresponding to the circumferential direction and the shaping direction of the shaping needle to set the direction weighting.

8. The method according to claim 7, wherein the first weighting is alpha weighting and the second weighting is beta weighting.

9. An electronic device, comprising: A processor; And A memory storing computer instructions for optimizing shaping in a microcatheter shaping device, which when executed by the processor, enables the implementation of the method according to any one of claims 1-8.

10. A computer-readable storage medium storing computer program instructions for optimizing shaping in a microcatheter shaping device, which when executed by one or more processors, enables the implementation of the method according to any one of claims 1-8.

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